A redundant eps off-hand detection m-hil test method for a vehicle

Abstract

The application discloses a kind of redundant EPS off-hand detection m-HIL test methods for car, comprising: one, redundant EPS off-hand detection function detection: input end torsional actuator and output end linear actuator selection;Output end linear actuator displacement keeps, adjusts input end actuator input torque, detects off-hand detection signal, records "off-hand" state and changes "non-off-hand" state corresponding output end linear actuator load value and input end torsional actuator torque value;Set output end linear actuator load value, adjust input end torsional actuator torque value, make steering gear from middle position start to rotate to both ends limit position and return, detect whether off-hand detection signal output is correct;Set input end torsional actuator initial torque, adjust output end linear actuator load, and rotate steering gear, detect whether off-hand detection signal output is correct;Two. Redundant EPS off-hand detection function fault detection.

Description

Technical Field

[0001] This invention belongs to the field of automotive redundant EPS function testing technology, specifically relating to a vehicle hands-off testing method, and further including a vehicle redundant EPS hands-off testing and function fault testing method. Background Technology

[0002] As vehicles become increasingly intelligent and connected, more and more vehicles are equipped with driver assistance and autonomous driving functions. However, current technology is insufficient to achieve autonomous driving in all road conditions, and most driving scenarios require driver intervention. Therefore, the steering system must monitor in real time whether the driver is operating the vehicle, leading to the development of hands-off detection functionality. At the same time, the redundant design and fault injection of EPS (Electric Power Steering) present new challenges to the testing and verification of hands-off detection functionality. Summary of the Invention

[0003] To address the aforementioned problems in existing technologies, this invention provides a method for detecting the off-hand operation of redundant EPS in automobiles using the m-HIL test. This method performs off-hand operation detection function testing and functional fault detection on redundant EPS, achieving full verification of the off-hand operation detection function of redundant EPS during the development phase.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A method for off-hand detection m-HIL of redundant EPS in automobiles, the test system of which includes a power supply module, a redundant EPS assembly, a test specimen, an upper controller, actuators, and a hydraulic pump station; the redundant EPS assembly includes a torque sensor and a power assist motor; the actuator includes an input-end torsional actuator and an output-end linear actuator; the redundant EPS assembly is connected to the input shaft torsional actuator and the output linear actuator, the redundant EPS signal communication part and the test specimen are respectively connected to the upper controller and connected to the power supply module;

[0006] The automotive redundant EPS off-hand detection m-HIL test method includes:

[0007] I. Redundant EPS Hand-Off Detection Function Test

[0008] S1. Selection of input-end torsional actuator and output-end linear actuator;

[0009] S2. Mount the test specimen onto the test system;

[0010] S3. Prepare for redundant EPS detection;

[0011] S4. Maintain the displacement of the output linear actuator, adjust the input torque of the input actuator, detect the off-hand detection signal, record the load value of the output linear actuator and the torque value of the input torsional actuator corresponding to the "off-hand" state, and the load value of the output linear actuator and the torque value of the input torsional actuator corresponding to the "on-hand" state.

[0012] S5. Set the load value of the linear actuator at the output end, adjust the torque value of the torsional actuator at the input end, so that the steering gear starts to rotate from the middle position to the extreme positions at both ends and returns to the original position, and check whether the off-hand detection signal output is correct;

[0013] S6. Set the initial torque of the input torsional actuator, adjust the load of the output linear actuator, and rotate the steering gear to check whether the off-hand detection signal output is correct;

[0014] II. Fault Detection of Redundant EPS Hand-Off Detection Function

[0015] S7. Single-point fault injection and off-hand detection test for autonomous driving;

[0016] S8. Multi-point fault injection and off-hand detection test for autonomous driving;

[0017] S9. Multi-point fault injection of moment signal and its off-hand detection test.

[0018] Further, step S1 includes:

[0019] 1.1) Select torsional actuators and sensors with a maximum torque not exceeding 10 Nm and an accuracy not less than 0.1 Nm, and a maximum rotation angle not less than 1080° and an accuracy not less than 0.1°;

[0020] 1.2) Select linear actuators and sensors with a maximum load of not less than 5kN and an accuracy of not less than 0.1N, and a maximum displacement of not less than 125mm and an accuracy of not less than 0.1mm;

[0021] 1.3) Calibrate the sensors for torsional actuators and linear actuators.

[0022] Further, step S2 includes:

[0023] 2.1) Install the sample, and zero all sensors before installation;

[0024] 2.2) Adjust the DC power supply voltage of the power supply module to 12±0.5V to provide power to the assist motor and the test specimen;

[0025] 2.3) The redundant EPS communication signal and the test specimen rotation signal are connected to the upper-level controller. The rotation signal is sent to the redundant EPS through the upper-level controller.

[0026] Further, step S3 includes:

[0027] 3.1) Sent by the upper-level controller: Correct configuration of driving assistance / autonomous driving; Cornering sensor angle signal;

[0028] 3.2) The torque sensor sends the correct torque signal; detect whether the redundant EPS sends an error message. If so, check the status of the test specimen and whether the signal sent by the upper controller is correct. If correct, continue to step S4; otherwise, continue to step S4.

[0029] Further, step S4 includes:

[0030] 4.1) Maintain the displacement of the output linear actuator and set the input torque of the input actuator to 1. After time t1, determine whether the release detection signal is in the "released" state. If yes, record the load value of the output linear actuator; if not, reduce the input torque value of the input actuator and repeat step 4.1 until the release detection signal is in the "released" state. Then record the load value a of the output linear actuator and the torque value A of the input torsional actuator in the last test.

[0031] 4.2) Maintain the displacement of the output linear actuator and set the input torque of the input actuator to two. After time t1, determine whether the release detection signal is in the "non-release" state. If yes, record the load value of the output linear actuator; if not, increase the input torque value of the input actuator and repeat step 4.2 until the release detection signal is in the "non-release" state. Then record the load value b of the output linear actuator and the torque value B of the input torsional actuator in the last test.

[0032] Further, step S5 includes:

[0033] 5.1) Set the initial state of the input torsional actuator to 0, set the output linear actuator to a, and simultaneously set the input torsional actuator to A. Rotate the steering gear from the middle position to one extreme position, then to the other extreme position, and finally back to the middle position. Repeat this several times. Determine whether the release detection signal is always in the "released" state during the test. If it is, the test is qualified; otherwise, it is unqualified.

[0034] 5.2) Set the initial state of the input torsional actuator to 0, set the output linear actuator to b, and set the input torsional actuator to B. Rotate the steering gear from the middle position to one extreme position, then to the other extreme position, and finally back to the middle position. Repeat this several times. During the test, determine whether the force value of the input torsional actuator reaches b and changes from the "hands-off" state to the "hands-on" state, and remains in the "hands-on" state thereafter. If yes, it is qualified; otherwise, it is unqualified.

[0035] Further, step S6 includes:

[0036] 6.1) Set the initial state of the input torsional actuator to B+0.5, and the load value of the output linear actuator to (1+(B+0.5) / B)*b. Gradually decrease the input torque value at a certain rate, while simultaneously rotating the steering gear from the middle position at a certain speed until the input torque value reaches A-0.5. After 10 seconds, the output load is still set to (1+(B+0.5) / B)*b, but in the opposite direction. The input torque value is also gradually decreased from B+0.5 at a certain rate in the opposite direction, while simultaneously rotating the steering gear from the middle position until the force value reaches A-0.5. Measure and record the following during the test: When the torque decreases to B and time t1 remains unchanged, the hands-off detection signal remains in the "not hands-off" state; when the torque decreases to A and time t1 changes, does the hands-off detection signal change from the "not hands-off" state to the "not hands-off" state? If both of the above conditions are met, the test is qualified; otherwise, it is unqualified.

[0037] 6.2) Set the initial state of the input shaft torsion actuator to A-0.5, then set the load value of the output linear actuator to (1-(A-0.5) / A)*a, and gradually increase the input torque value at a certain rate. At the same time, rotate the steering gear from the middle position at a certain speed until the input torque value reaches (A+B) / 2. After 10s, the output load is still set to (1-(A-0.5) / A)*a, but in the opposite direction. The input torque value is also gradually increased from A-0.5 at a certain rate in the opposite direction. At the same time, rotate the steering gear from the middle position until the force value reaches B+0.5. Measure and record the following during the test: When the torque increases to A and time t1, the off-hand detection signal remains in the "off-hand" state. During the process of reloading the torque to B+0.5, when the torque increases to B and time t1, does the off-hand detection signal change from the "off-hand" state to the "not off-hand" state? If both of the above two conditions are met, it is qualified; otherwise, it is unqualified.

[0038] Further, step S7 includes:

[0039] The upper controller sends an unavailable signal of one of the preset multiple driving assistance / automatic driving functions to the redundant EPS, and checks whether the hands-off detection function sends an unavailable message. If it is "unavailable", it is qualified; otherwise, it is unqualified.

[0040] Further, the step S8 includes:

[0041] The upper controller sends an unavailable signal of a torque-requested driving assistance and a steering-angle-requested automatic driving to the redundant EPS, and then checks whether the hands-off detection function sends an unavailable message. If it is "unavailable", it is qualified; otherwise, it is unqualified.

[0042] Further, the step S9 includes:

[0043] The torque signals of the redundant EPS are 4 torque signals sent by two torque sensors for mutual verification. If the verification values of two or more of them are correct, it does not affect the normal use of the hands-off detection function; the 4 torque signal labels are 1#, 2#, 3#, and 4# respectively. Use a fault sending board to arrange and combine the faults of two torque signals. If the hands-off detection module shows normal, it is qualified; otherwise, it is unqualified. Use a fault sending board to arrange and combine the faults of three torque signals. If the hands-off detection module shows unavailable, it is qualified; otherwise, it is unqualified.

[0044] The present invention has the following beneficial effects:

[0045] The present invention provides a method for m-HIL test of hands-off detection of automotive redundant EPS, which conducts the detection of the hands-off detection function and the function fault detection of the automotive redundant EPS, and realizes the full verification of the hands-off detection function of the redundant EPS in the development stage. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0047] Figure 1 is the architecture diagram of the m-HIL test system for hands-off detection of automotive redundant EPS described in the specific embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] The following will clearly and completely describe various embodiments of the present invention in conjunction with the drawings. The embodiments described by referring to the drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0049] Embodiment

[0050] A method for m-HIL test of hands-off detection of automotive redundant EPS, which is realized through a test system, as Figure 1As shown, the test system includes: a power supply module, a redundant EPS assembly, an angle sensor (test prototype), an upper-level controller, actuators, and a hydraulic pump station. The redundant EPS assembly includes a torque sensor and a power assist motor. The actuators include an input shaft torsional actuator and an output linear actuator. The input shaft torsional actuator includes an angle sensor and a torque sensor; the output linear actuator includes a displacement sensor and a force sensor. The redundant EPS assembly is connected to the input shaft torsional actuator and the output linear actuator, with its output end linearly connected to the actuators on both sides. The redundant EPS signal communication section and the angle sensor (test prototype) are connected to the upper-level controller and connected to the power supply module.

[0051] The automotive redundant EPS hands-off detection m-HIL test method includes two parts: redundant EPS hands-off detection function testing and hands-off detection function fault detection. Specifically, the test method includes:

[0052] I. Redundant EPS Hand-Off Detection Function Test

[0053] 1. Select torsional actuators and linear actuators, and calibrate the sensors:

[0054] 1.1 Select torsional actuators and sensors with a maximum torque not exceeding 10 Nm and an accuracy not less than 0.1 Nm, and a maximum rotation angle not less than 1080° and an accuracy not less than 0.1°;

[0055] 1.2 Select linear actuators and sensors with a maximum load of not less than 5kN and an accuracy of not less than 0.1N, and a maximum displacement of not less than 125mm and an accuracy of not less than 0.1mm;

[0056] 1.3 Calibrate the sensors of the torsional actuator and the linear actuator to meet the requirements of steps 1.1 and 1.2.

[0057] 2. Mount the test specimen onto the test system described in this embodiment:

[0058] 2.1 Install the sample, and zero all sensors before installation;

[0059] 2.2 Adjust the DC power supply voltage of the power supply module to (12±0.5)V to provide power to the assist motor and the angle sensor (test specimen);

[0060] 2.3 Redundant EPS communication signal, angle sensor (test specimen) The angle signal is connected to the upper-level controller, and the angle signal is sent to the redundant EPS through the upper-level controller;

[0061] 3. Preparation for redundant EPS testing:

[0062] 3.1 The upper-level controller sends: a. Driving assistance / autonomous driving correct configuration (driving assistance / autonomous driving available) signal; b. Angle sensor angle signal;

[0063] 3.2 The torque sensor sends the correct torque signal (this sensor is usually integrated inside the redundant EPS, so it is not sent by the upper controller); detect whether the redundant EPS sends an error message. If so, check the sample status and whether the signal sent by the upper controller is correct. If correct, continue to step 4; if not, continue to step 4.

[0064] 4. Maintain the displacement of the output linear actuator, adjust the input torque of the input actuator, detect the off-hand detection signal, and record the load value of the output linear actuator and the torque value of the input torsional actuator corresponding to the "off-hand" state, as well as the load value of the output linear actuator and the torque value of the input torsional actuator corresponding to the "on-hand" state.

[0065] 4.1 Maintain the displacement of the linear actuator at the output end, and input the torque of the actuator at the input end to xx Nm (0.1 Nm in this embodiment). After xx seconds, determine whether the release detection signal is in the "released" state. If yes, record the load value of the linear actuator at the output end. If not, reduce the input torque value of the actuator at the input end and repeat step 4.1 until the release detection signal is in the "released" state. Then record the load value of the linear actuator at the output end (set to a N), and record the torque value of the torsional actuator at the input end (set to AN m) for the last test.

[0066] 4.2 Maintain the displacement of the linear actuator at the output end, and input the torque of the actuator at the input end to xx Nm (0.7 Nm in this embodiment). After xx seconds, determine whether the release detection signal is in the "non-release" state. If yes, record the load value of the linear actuator at the output end. If not, increase the input torque value of the actuator at the input end and repeat step 4.2 until the release detection signal is in the "non-release" state. Then record the load value of the linear actuator at the output end (set to b N), and record the torque value of the torsional actuator at the input end (set to B Nm) for the last test.

[0067] 5. Set the output linear actuator load value and adjust the input torsional actuator torque value to make the steering gear rotate from the middle position to both extreme positions and return to its original position. Check if the off-hand detection signal output is correct.

[0068] 5.1 Set the initial state of the input end torsional actuator to 0 Nm, then set the output end linear actuator to a N, and at the same time set the input end torsional actuator to A Nm. Rotate the steering gear from the middle position to one extreme position, then to the other extreme position, and finally back to the middle position. Repeat xx times (it can be 2 times). During the test, judge whether the hand-off detection signal is always in the "hand-off" state. If so, it is qualified; if not, it is unqualified.

[0069] 5.2 Set the initial state of the input end torsional actuator to 0 Nm, then set the output end linear actuator to b N, and at the same time set the input end torsional actuator to B Nm. Rotate the steering gear from the middle position to one extreme position, then to the other extreme position, and finally back to the middle position. Repeat xx times (it can be 2 times). During the test, judge whether the "hand-off" state changes to the "non-hand-off" state after the force value of the input end torsional actuator reaches b Nm and then remains in the "non-hand-off" state subsequently. If so, it is qualified; if not, it is unqualified.

[0070] 6. EPS hand-off detection test under two-way adjustment of the input end actuator and the output end actuator: Set the initial torque of the input end torsional actuator, adjust the load of the output end linear actuator, and rotate the steering gear to detect whether the output of the hand-off detection signal is correct:

[0071] 6.1 Set the initial state of the input end torsional actuator to (B + 0.5) Nm, then set the load value of the output end linear actuator to (1 + (B + 0.5) / B)*b. Gradually reduce the input end torque value at a rate of xx Nm / s (in this embodiment, it can be 0.01 Nm / s), and at the same time rotate the steering gear from the middle position at a speed of xx deg / s until the input end torque value reaches (A - 0.5) Nm (note that the steering gear should not rotate to the extreme position before reaching the target torque); After 10 s, the output end load is still set to (1 + (B + 0.5) / B)*b, but in the opposite direction. The input end also gradually reduces the input end torque value from (B + 0.5) Nm in the opposite direction at a rate of xx Nm / s (it can be 0.01 Nm / s), and at the same time rotate the steering gear from the middle position until the force value reaches (A - 0.5) Nm (note that the steering gear should not rotate to the extreme position before reaching the target torque); Measure and record during the test: (1) After xx s (measurement value in 3.1) when the torque is reduced to B Nm, the hand-off detection signal remains in the "non-hand-off" state; (2) After xx s (take the measurement value in 3.2) when the torque is reduced to A Nm, whether the hand-off detection signal changes from the "hand-off" state to the "non-hand-off" state; If both (1) and (2) are satisfied, it is qualified, otherwise it is unqualified.

[0072] 6.2 Set the initial state of the input shaft torsion actuator to (A-0.5) Nm. Then set the load value of the output linear actuator to (1-(A-0.5) / A)*a. Gradually increase the input torque value at a rate of xx Nm (which can be 0.01 Nm / s), while simultaneously rotating the steering gear from the middle position at a speed of xx deg / s until the input torque value reaches (A+B) / 2 Nm (note that the steering gear should not be rotated to its limit position before reaching the target torque). After 10 seconds, the output load is still set to (1-(A-0.5) / A)*a, but in the opposite direction. The input torque value is also gradually increased in the opposite direction from (A-0.5) Nm at a rate of xx Nm (which can be 0.01 Nm / s), while simultaneously rotating the steering gear from the middle position until the force value reaches (B+0.5) Nm (note that the steering gear should not be rotated to its limit position before reaching the target torque). Measure and record during the test: (1) After the torque increases to ANm for xxs (3.1 measured value), the release detection signal remains in the "released" state; (2) During the process of reloading the torque to (B+0.5)Nm, after the torque increases to BNm for xxs (3.2 measured value), whether the release detection signal changes from the "released" state to the "not released" state; If both (1) and (2) are satisfied, it is qualified; otherwise, it is unqualified.

[0073] II. Fault Detection of Redundant EPS Hand-Off Detection Function

[0074] The process of selecting torsional actuators and linear actuators and calibrating sensors is the same as in step 1.

[0075] The installation process for the test specimen is the same as in step 2;

[0076] 7. Single-point fault injection and off-hand detection testing for autonomous driving systems:

[0077] The upper-level controller sends one of the preset driving assistance / autonomous driving modes as an "error" to the redundant EPS. It then checks if the hands-off detection function has issued an "unavailable" message. If it is, the test is successful; otherwise, it fails. Each driving mode is tested once, and the number of tests depends on the number of driving assistance / autonomous driving modes.

[0078] 8. Multi-point fault injection and off-hand detection testing for autonomous driving systems:

[0079] The upper-level controller sends a torque request for driver assistance and a steering angle request for automatic driving unavailable (error) signals to the redundant EPS. Then, it checks if the hands-off detection function issues an unavailable message. If it is "unavailable," the test is successful; otherwise, it is unsuccessful. Typically, there are 10 random groups (the number of tests depends on the number of driver assistance / automatic driving functions).

[0080] 9. Multi-point fault injection of torque signal and its off-hand detection test:

[0081] In a typical redundant EPS (Electric Power Supply), the torque signal consists of four torque signals emitted by two torque sensors, which are cross-checked. If two or more of the check values ​​are correct, the off-hand detection function will function normally. The four signals are labeled 1#, 2#, 3#, and 4#. Using a fault transmission board, two torque signals are combined to indicate a fault. If the off-hand detection module displays a normal result, the test is successful; otherwise, it fails. Alternatively, using the fault transmission board, three torque signals are combined to indicate a fault. If the off-hand detection module displays an unavailable result, the test is successful; otherwise, it fails.

[0082] The above provides a detailed description of the m-HIL test method for detecting redundant EPS in automobiles. Specific examples have been used to illustrate the principle and implementation of the invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the invention. Therefore, the content of this specification should not be construed as a limitation of the invention.

Claims

1. A method for detecting the m-HIL (manual-driven interlocking loop) of redundant EPS in automobiles, the test system comprising a power supply module, a redundant EPS assembly, a test specimen, an upper-level controller, an actuator, and a hydraulic pump station; the redundant EPS assembly includes a torque sensor and a power assist motor; the actuator includes an input-end torsional actuator and an output-end linear actuator; the redundant EPS assembly is connected to the input shaft torsional actuator and the output linear actuator, the redundant EPS signal communication part and the test specimen are respectively connected to the upper-level controller and connected to the power supply module; Its features are, The automotive redundant EPS off-hand detection m-HIL test method includes: I. Redundant EPS Hand-Off Detection Function Test S1. Selection of input-end torsional actuator and output-end linear actuator; S2. Mount the test specimen onto the test system; S3. Prepare for redundant EPS detection; S4. Maintain the displacement of the output linear actuator, adjust the input torque of the input actuator, detect the off-hand detection signal, record the load value of the output linear actuator and the torque value of the input torsional actuator corresponding to the "off-hand" state, and the load value of the output linear actuator and the torque value of the input torsional actuator corresponding to the "on-hand" state. S5. Set the load value of the linear actuator at the output end, adjust the torque value of the torsional actuator at the input end, so that the steering gear starts to rotate from the middle position to the extreme positions at both ends and returns to the original position, and check whether the off-hand detection signal output is correct; S6. Set the initial torque of the input torsional actuator, adjust the load of the output linear actuator, and rotate the steering gear to check whether the off-hand detection signal output is correct; II. Fault Detection of Redundant EPS Hand-Off Detection Function S7. Single-point fault injection and off-hand detection test for autonomous driving; S8. Multi-point fault injection and off-hand detection test for autonomous driving; S9. Multi-point fault injection of moment signal and its off-hand detection test.

2. The method for detecting m-HIL (Multi-Level Imaging) during off-hand operation of automotive redundant EPS as described in claim 1, characterized in that, Step S1 includes: 1.1) Select torsional actuators and sensors with a maximum torque not exceeding 10 Nm and an accuracy not less than 0.1 Nm, and a maximum rotation angle not less than 1080° and an accuracy not less than 0.1°; 1.2) Select linear actuators and sensors with a maximum load of not less than 5kN and an accuracy of not less than 0.1N, and a maximum displacement of not less than 125mm and an accuracy of not less than 0.1mm; 1.3) Calibrate the sensors for torsional actuators and linear actuators.

3. The method for detecting m-HIL (Multi-Level Imaging) during hands-free operation of automotive redundant EPS as described in claim 1, characterized in that, Step S2 includes: 2.1) Install the sample, and zero all sensors before installation; 2.2) Adjust the DC power supply voltage of the power supply module to 12±0.5V to provide power to the assist motor and the test specimen; 2.3) The redundant EPS communication signal and the test specimen rotation signal are connected to the upper-level controller. The rotation signal is sent to the redundant EPS through the upper-level controller.

4. The method for detecting m-HIL (middle-level isolation layer) of redundant EPS (experimental power supply) in automobiles as described in claim 1, characterized in that, Step S3 includes: 3.1) Sent by the upper-level controller: Correct configuration of driving assistance / autonomous driving; Cornering sensor angle signal; 3.2) The torque sensor sends the correct torque signal; detect whether the redundant EPS sends an error message. If so, check the status of the test specimen and whether the signal sent by the upper controller is correct. If correct, continue to step S4; otherwise, continue to step S4.

5. The method for detecting m-HIL (middle-level isolation layer) of redundant EPS (experimental power supply) in automobiles as described in claim 1, characterized in that, Step S4 includes: 4.1) Maintain the displacement of the output linear actuator and set the input torque of the input actuator to 1. After time t1, determine whether the release detection signal is in the "released" state. If yes, record the load value of the output linear actuator; if not, reduce the input torque value of the input actuator and repeat step 4.1 until the release detection signal is in the "released" state. Then record the load value a of the output linear actuator and the torque value A of the input torsional actuator in the last test. 4.2) Maintain the displacement of the output linear actuator and set the input torque of the input actuator to two. After time t1, determine whether the release detection signal is in the "non-release" state. If yes, record the load value of the output linear actuator; if not, increase the input torque value of the input actuator and repeat step 4.2 until the release detection signal is in the "non-release" state. Then record the load value b of the output linear actuator and the torque value B of the input torsional actuator in the last test.

6. The method for detecting m-HIL (middle-level isolation layer) of redundant EPS (experimental power supply) in automobiles as described in claim 5, characterized in that, Step S5 includes: 5.1) Set the initial state of the input torsional actuator to 0, set the output linear actuator to a, and set the input torsional actuator to A. Rotate the steering gear from the middle position to one extreme position, then to the other extreme position, and finally back to the middle position. Repeat this several times. Determine whether the off-hand detection signal is always in the "off-hand" state during the test. If it is, the test is qualified; otherwise, it is unqualified. 5.2) Set the initial state of the input torsional actuator to 0, set the output linear actuator to b, and set the input torsional actuator to B. Rotate the steering gear from the middle position to one extreme position, then to the other extreme position, and finally back to the middle position. Repeat this several times. During the test, determine whether the force value of the input torsional actuator reaches b and changes from the "hands-off" state to the "hands-on" state, and remains in the "hands-on" state thereafter. If yes, it is qualified; otherwise, it is unqualified.

7. The method for detecting m-HIL (middle-level isolation layer) of redundant EPS (experimental power supply) in automobiles as described in claim 6, characterized in that, Step S6 includes: 6.1) Set the initial state of the input - end torsional actuator to B + 0.5, set the load value of the output - end linear actuator to (1+(B + 0.5) / B)*b, gradually reduce the input - end torque value at a certain rate, and at the same time make the steering gear rotate at a certain speed from the middle position until the input - end torque value reaches A - 0.5; After 10 s, the output - end load is still set to (1+(B + 0.5) / B)*b, but in the opposite direction. The input - end also reduces the input - end torque value at a certain rate from B + 0.5 in the opposite direction, and at the same time makes the steering gear rotate from the middle position until the force value reaches A - 0.5; Measure and record during the test process: When the torque decreases to B, at t1 time, the hand - off detection signal remains in the "non - hand - off" state; When the torque decreases to A, at t1 time, whether the hand - off detection signal changes from the "hand - off" state to the "non - hand - off" state; If both of the above are satisfied, it is qualified, otherwise it is unqualified; 6.2) Set the initial state of the input - shaft torsional actuator to A - 0.5, then set the load value of the output - end linear actuator to (1-(A - 0.5) / A)*a, gradually increase the input - end torque value at a certain rate, and at the same time make the steering gear rotate at a certain speed from the middle position until the input - end torque value reaches (A + B) / 2; After 10 s, the output - end load is still set to (1-(A - 0.5) / A)*a, but in the opposite direction. The input - end also increases the input - end torque value at a certain rate from A - 0.5 in the opposite direction, and at the same time makes the steering gear rotate from the middle position until the force value reaches B + 0.5; Measure and record during the test process: When the torque increases to A, at t1 time, the hand - off detection signal remains in the "hand - off" state; During the process of re - loading the torque to B + 0.5, when the torque increases to B, at t1 time, whether the hand - off detection signal changes from the "hand - off" state to the "non - hand - off" state; If both of the above are satisfied, it is qualified, otherwise it is unqualified.

8. The method for detecting m-HIL (Multi-Level Imaging) during off-hand operation of automotive redundant EPS as described in claim 1, characterized in that, The step S7 includes: The upper - layer controller sends an unavailable signal of one of the preset multiple driving assistance / automatic driving functions to the redundant EPS, and checks whether the hand - off detection function sends an unavailable message. If it is "unavailable", it is qualified, otherwise it is unqualified.

9. The method for detecting m-HIL (Multi-Level Imaging) during off-hand operation of automotive redundant EPS as described in claim 1, characterized in that, The step S8 includes: The upper - layer controller sends an unavailable signal of a driving assistance with a torque request and an automatic driving with a corner request to the redundant EPS, and then checks whether the hand - off detection function sends an unavailable message. If it is "unavailable", it is qualified, otherwise it is unqualified.

10. The method for detecting m-HIL (middle-level isolation layer) of redundant EPS (experimental power supply) in automobiles as described in claim 1, characterized in that, The step S9 includes: The torque signal of the redundant EPS is 4 - way torque signals sent by two torque sensors for mutual verification. If the verification values of two or more paths are correct, it does not affect the normal use of the hand - off detection function; The labels of the 4 - way torque signals are 1#, 2#, 3#, and 4# respectively. Use a fault - sending board to arrange and combine two - path torque signal faults; If the hand - off detection module shows normal, it is qualified, otherwise it is unqualified; Use a fault - sending board to arrange and combine three - path torque signal faults. If the hand - off detection module shows unavailable, it is qualified, otherwise it is unqualified.

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